CN117682253A - Multicast system and position correction method for multicast vehicle - Google Patents

Abstract

The invention discloses a distribution system and a position correction method of a distribution vehicle. The invention relates to a sub-broadcasting system which comprises a sub-broadcasting wall, a sub-broadcasting vehicle, a packet supply station and a position correction device. The position correction device comprises a first sensing piece and a second sensing piece which are arranged on the bottom layer transverse track and a sensor arranged on the seed sowing vehicle. The first sensor blade is disposed upstream of the packet receiving location. The second sensing piece is arranged at the on-line position. The seed-sorting vehicle has an operating state and an on-line state. In the working state, the sensor positions the split vehicle by sensing the first sensing piece. According to the distribution system, the two induction pieces are arranged to respectively induce the distribution vehicle to be on line and return to zero in a normal operation state, so that the distribution vehicle can be scheduled after being on line, and the accuracy of position control of the distribution vehicle is improved.

Description

Multicast system and position correction method for multicast vehicle

Technical Field

The invention relates to the technical field of logistics storage, in particular to a distribution system and a position correction method of a distribution vehicle.

Background

The distribution system is used to sow the sorted goods into the racks, and generally comprises a distribution wall and a shuttle. The distributing wall is provided with a horizontal track and a vertical track, and when the shuttle car carries goods to the target distributing position of the distributing wall target layer, the goods are released and fall into a container of the goods shelf through an inclined slideway.

The sub-sowing vehicle circularly operates on the sub-sowing wall, firstly receives packets on the lowest horizontal track, then continuously operates on the lowest horizontal track, sequentially passes through the ascending section, the other horizontal sections and the descending section, and returns to the lowest horizontal track to go to the packet receiving position to continue receiving packets.

In the research process, if a system fault or other faults occur in the circulation operation process of the distribution vehicle, the controller of the distribution system cannot acquire the position of the distribution vehicle, or the controller acquires the position of the distribution vehicle and the actual position of the distribution vehicle to have larger deviation, so that the operation of the distribution vehicle cannot be accurately controlled, and further the accuracy of goods distribution is possibly lower. It is therefore necessary to correct the position of the trolley,

it should be noted that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Disclosure of Invention

The invention provides a distribution system and a distribution vehicle position correction method, which are used for improving the accuracy of distribution vehicle position control.

The first aspect of the present invention provides a unicast system, comprising:

the sub-broadcasting wall comprises a plurality of layers of transverse rails extending along a first direction, a longitudinal ascending rail extending along a second direction and a longitudinal descending rail extending along the second direction, wherein the first direction and the second direction are arranged in a crossing way, and the longitudinal ascending rail and the longitudinal descending rail are respectively arranged at two ends of the transverse rails;

a seed-sorting vehicle configured to carry goods and move along a transverse rail and a longitudinal ascending rail to a target seed-sorting position of a target layer of a seed-sorting wall, the multi-layer transverse rail including a bottom layer transverse rail at the bottom, the bottom layer transverse rail including an upper line position disposed adjacent to the longitudinal descending rail, the seed-sorting vehicle configured to be brought up from the upper line position and move along the bottom layer transverse rail;

the bottom layer transverse track is provided with a packet receiving position for receiving cargoes, and the distribution vehicle moves to the packet receiving position to receive cargoes; and

the position correction device comprises a first sensing piece, a second sensing piece and a sensor, wherein the first sensing piece and the second sensing piece are arranged on a bottom layer transverse track, the sensor is arranged on a distribution vehicle, the first sensing piece is arranged at the upstream of a packet receiving position, the second sensing piece is arranged at an online position, the distribution vehicle is provided with an operation state and an online state, and the sensor is used for positioning the distribution vehicle by sensing the first sensing piece in the operation state; in an online state, the sensor positions the split vehicle by sensing the second sensing piece.

In some embodiments, the multicast system further includes a controller that marks a position of the multicast cart as an initial position if the sensor senses the first sensor patch in the operational state.

In some embodiments, the distribution system further comprises a controller, in an on-line state, that marks the position of the distribution vehicle as a set position if the sensor senses the second sensing piece.

In some embodiments, the distribution system includes a plurality of distribution vehicles, and in the operating state, if there is a faulty distribution vehicle among the plurality of distribution vehicles, a sensor of a part of the distribution vehicles is positioned by sensing the first sensing piece, and a sensor of another part of the distribution vehicles is positioned by sensing the second sensing piece.

In some embodiments, the bottom layer transverse track includes a first sub-track and a second sub-track arranged in parallel and spaced apart, the first sub-track and the second sub-track each extending along a first direction, the first sensing piece and the second sensing piece being arranged between the first sub-track and the second sub-track and at different positions in a third direction, the third direction being perpendicular to the first direction and perpendicular to the second direction.

In some embodiments, the sub-sowing system further comprises a trolley line arranged between the first sub-track and the second sub-track and extending along the first direction, and a trolley line beam arranged at intervals with the trolley line, wherein the trolley line is used for charging the sub-sowing vehicle during the movement of the sub-sowing vehicle along the bottom layer transverse track, and the first sensing piece is arranged on the trolley line beam.

In some embodiments, the bottom layer transverse rail further comprises a connecting beam disposed proximate the longitudinal drop rail and at an end, the transverse connecting beam connecting the first sub rail and the second sub rail, the second sensing tab disposed on the connecting beam.

In some embodiments, the position correction device includes two sensors disposed on the seed-sowing vehicle, the two sensors including a first sensor and a second sensor, the first sensor being positioned to correspond to a position of the first sensing piece to sense the first sensing piece, the second sensor being positioned to correspond to a position of the second sensing piece to sense the second sensing piece.

The second aspect of the present invention provides a position correction method for a multicast vehicle of the multicast system, including the following steps:

a plurality of sub-sowing vehicles are on line from one end of the longitudinal descending track, and for each sub-sowing vehicle, the position of the sub-sowing vehicle is marked as a set position according to the signal of the second sensing piece acquired by the sensor on each sub-sowing vehicle;

after the on-line operation state is entered, the sub-sowing vehicle moves along the bottom layer transverse track and marks the position of the sub-sowing vehicle as an initial position according to the acquired signal of the first sensing piece before reaching the packet receiving position.

In some embodiments, after entering the operational state, only the signal of the first sensor patch is acquired during movement of the cart.

In some embodiments, in the working state, if a fault multicast car exists in the multicast cars, signals of the first sensing piece and the second sensing piece are respectively acquired for different multicast cars to locate the different multicast cars.

Based on the technical scheme provided by the invention, the on-line distribution system is used for positioning the position of the distribution vehicle when the distribution vehicle is on-line by arranging the second induction piece at the on-line position of the bottom layer transverse track of the distribution wall, so that the on-line distribution vehicle is scheduled. And the first induction piece is arranged at the upstream of the packet receiving position in the operation state to position the delivery vehicle, so that the delivery vehicle can be accurately controlled in the operation process, and further, the goods can be accurately delivered. According to the invention, the two induction pieces are arranged to respectively induce the initial positions of the on-line and normal operation states of the multicast vehicle, so that the multicast vehicle can be scheduled after being on-line, and the accuracy of position control of the multicast vehicle is improved.

Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:

fig. 1 is a schematic perspective view of a multicast system according to some embodiments of the present invention.

Fig. 2 is a schematic diagram illustrating the operation of a distribution system according to some embodiments of the present invention.

Fig. 3 is a schematic structural diagram of a multicast system according to some embodiments of the present invention.

Fig. 4 is a schematic partial structure of a multicast system according to some embodiments of the present invention.

Fig. 5 is a schematic view of a partial enlarged structure of the M portion in fig. 4.

Fig. 6 is a schematic view of a partial enlarged structure of the portion N in fig. 4.

Fig. 7 is a schematic structural diagram of a bottom layer transverse track of a distribution system according to some embodiments of the present invention.

Fig. 8 is a side view of a seed-metering truck and an underlying transverse track of a seed-metering system in accordance with some embodiments of the present invention.

Fig. 9 is a schematic perspective view of a multicast vehicle of the multicast system according to some embodiments of the present invention.

Fig. 10 is a schematic diagram of a position correction method of a multicast vehicle according to some embodiments of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways and the spatially relative descriptions used herein are construed accordingly.

Referring to fig. 1, in some embodiments, a distribution system includes a packet supply station 3, a distribution wall 1, and a distribution truck 2. The distributing wall 1 comprises a plurality of transverse rails 11, and a longitudinal ascending rail 12 and a longitudinal descending rail 13 respectively arranged at two ends of the transverse rails 11. Wherein the bag supplying table 3 is arranged at a position close to the longitudinal ascending track 2.

Wherein the distribution system comprises a plurality of distribution cars 2, as shown in fig. 2. The multilayer transverse rails 11 are disposed at intervals in the height direction and include a bottom layer transverse rail 110 at the bottom. The plurality of the sub-sowing vehicles 2 are all on line from the bottom layer transverse rail 110 and run to the position corresponding to the packet supply platform 3 to receive packets and continue running, move to other transverse rails through the longitudinal ascending rail 12, descend through the longitudinal descending rail 13 and return to the bottom layer transverse rail 110 after the sub-sowing of cargoes is completed, and continue to receive packets and circulate.

The distribution system further includes a controller. The controller is used for controlling the operation of a plurality of the distribution cars 2 so as to realize the accurate delivery of cargoes. To realize control over the running routes of the plurality of the multicast vehicles 2, the controller needs to accurately acquire the real-time positions of the multicast vehicles. In some embodiments, the seed vehicle 2 includes a displacement acquisition device. With a certain point on a track of the distribution wall as a zero point, in the process that the distribution vehicle 2 moves along the track on the distribution wall 1, the displacement acquisition device can acquire displacement data of the distribution vehicle 2, so that the controller can acquire the real-time position of the distribution vehicle 2.

In the research process, the fact that the multicast vehicle circularly moves on the multicast wall in the operation process is found, so that after the multicast system is operated for a period of time, the position of the multicast vehicle acquired by the controller is deviated, that is, the theoretical position of the multicast vehicle calculated and acquired by the controller is deviated from the actual position, that is, the theoretical position acquired by the controller is deviated, the position drift occurs, and the control accuracy of the travel route of the multicast vehicle is affected. It is therefore a great need to address how to correct the position of the cart.

To this problem, this application embodiment proposes a branch sowing system, this branch sowing system is through setting up two response pieces respectively at the upper reaches of receiving the package position and the position of coming into line, the response piece that utilizes the position of coming into line to set up obtains the position of branch sowing car and then realizes the dispatch to the sowing car like this, carry out the zeroing processing at the normal operation in-process to the position of sowing car at the response piece that the upper reaches of receiving the package position set up, namely the position mark of dividing sowing car is the initial position and eliminates displacement error, and then avoid the displacement error that many times circulation operation brought.

The following describes the structure and operation of the multicast system according to some embodiments of the present invention in detail with reference to fig. 1 to 9.

Referring to fig. 3 to 7, some embodiments of the present invention provide a distribution system including a distribution wall 1, a distribution vehicle 2, and a position correction device 4. As shown in fig. 3, the multicast wall 1 includes a plurality of layers of lateral rails 11 extending in a first direction X, a longitudinal ascending rail 12 extending in a second direction Y, and a longitudinal descending rail 13 extending in the second direction Y. The first direction X and the second direction Y are disposed to intersect. The longitudinal ascending rail 12 and the longitudinal descending rail 13 are provided at both ends of the lateral rail 11, respectively. The seed-metering truck 2 is configured to carry goods and move along transverse rails 11 and longitudinal lifting rails 12 to a target seed-metering position of a target layer of the seed-metering wall 1. The multi-layered transverse track comprises a bottom layer transverse track 110 at the bottom. The bottom transverse rail 110 includes an upper line position B disposed adjacent to the longitudinal descent rail 13. The jukebox 2 is configured to be brought up from the up position B and moved along the underlying lateral track 110. The bottom transverse rail 110 has a packet receiving location C for receiving cargo. The seed-sorting vehicle 2 moves to the packet receiving position C to receive the goods. As shown in fig. 4 to 7, the position correction device 4 includes a first sensor piece 41 and a second sensor piece 42 provided on the underlying lateral rail 11, and a sensor provided on the seed-sowing vehicle 2. The first sensor tab 41 is disposed upstream of the wrapping position C. The second sensing piece 42 is disposed at the in-line position B. The seed-sorting vehicle 2 has an operation state and an on-line state. In the operating state, the sensor positions the dispensing cart 2 by sensing the first sensor tab 41. In the on-line state, the sensor locates the cart 2 by sensing the second sensing tab 42.

The second sensing piece 42 is arranged at the on-line position of the bottom layer transverse track 11 of the on-line distribution wall 1 so as to position the distribution vehicle when the distribution vehicle is on-line, thereby realizing the dispatching of the on-line distribution vehicle. And the first sensing piece 41 is arranged at the upstream of the packet receiving position in the operation state to position the delivery vehicle 2, so that the delivery vehicle 2 can be accurately controlled in the operation process, and further, the goods can be accurately delivered. According to the distribution system, the two induction pieces are arranged to respectively induce the distribution vehicle to be on line and return to zero in a normal operation state, so that the distribution vehicle can be scheduled after being on line, and the accuracy of position control of the distribution vehicle is improved.

In some embodiments, a bag-feeding station 3 is provided on one side of the distribution wall 1 for feeding goods onto the distribution truck 2. The packet receiving position C of the bottom layer transverse rail 110 is set corresponding to the position of the packet supply table 3. In other embodiments, a manual package supplying manner may be adopted, which is not limited in this application.

The sensor positioning the multicast vehicle 2 by sensing the second sensing piece 42 in the on-line state means that when the sensor on the multicast vehicle 2 senses the signal of the second sensing piece 42 when the multicast vehicle 2 is on line to the multicast wall 1, the position of the multicast vehicle 2 is forcedly marked as the set position, so that the fact that the multicast vehicle 2 is on line is completed and the position of the multicast vehicle on the multicast wall 1 is known, so that the multicast vehicle 2 can be scheduled.

In some embodiments, the unicast system further comprises a controller. In the on-line state, if the sensor senses the second sensing piece 42, the controller marks the position of the multicast vehicle 2 as a set position.

The second sensing piece 42 in the embodiment of the present application is fixedly disposed on the distributing wall 1, so that the position of the second sensing piece 42 is fixed. If the sensor of the sub-sowing vehicle 2 can sense the second sensing piece 42, the sub-sowing vehicle 2 is indicated to reach the position of the second sensing piece 42, and then the controller can acquire the position of the sub-sowing vehicle 2 according to the position of the second sensing piece 42, so that the position of the sub-sowing vehicle 2 on the sub-sowing wall 1 is acquired. Therefore, the position is set in advance, and belongs to the set position. In some embodiments, the second sensing piece is a sheet metal part and is mounted and fixed on the sowing wall 1 through bolts. The sensor arranged on the seed sowing vehicle 2 comprises a magnetic induction switch. When the magnetic induction switch is close to the second induction piece, the magnetic induction switch can be triggered to generate a signal.

As shown in fig. 4 to 6, the seed-metering truck 2 is wired from one end of the seed-metering wall 1 near the longitudinal descent rail 13, i.e., the right end in fig. 4. And then moves leftwards along the lower transverse rail 110, and then, after moving to the position where the bag-feeding stand 3 is located, is docked with the bag-feeding stand 3 to receive goods. With reference to fig. 3, after receiving the goods, the cart 2 continues to move leftwards and upwards through the longitudinal ascending track 12 to turn to the transverse track of the corresponding target layer after reaching the target layer, then completes the delivery at the corresponding delivery position, and descends back to the bottom transverse track 110 through the longitudinal descending track 13 to continue the package.

Referring to fig. 4 and 6, in some embodiments, the bottom transverse rail 110 includes first and second sub-rails 111, 112 disposed at intervals. The first sub-track 111 extends in a first direction X and the second sub-track 112 also extends in the first direction X. The bottom transverse rail 110 further comprises a connecting beam 18 arranged close to the longitudinal lowering rail 13 and at the end. The transverse connection beam 18 connects the first sub-track 111 and the second sub-track 112. The second inductive piece 42 is arranged on the connecting beam 18. That is, the second sensing piece 42 is disposed at an end of the underlying lateral track 110. Thus, after the jukebox 2 is on-line, the sensor on the jukebox 2 will sense the signal from the second sensing piece 42.

Referring to fig. 9, the seed distribution vehicle 2 of the embodiment of the present invention includes a vehicle body. The bottom of the car body is provided with guide wheels which are matched with the bottom layer transverse rails 110. In the direction in which the first direction X extends, the seed vehicle 2 has a front end and a rear end. Wherein the sensor is arranged at the rear end of the seed distribution vehicle 2. Thus, after the distribution truck 2 is on-line, the sensor arranged at the rear end of the distribution truck 2 can sense the second sensing piece 42.

In some embodiments, the unicast system further comprises a controller. In the operating state, if the sensor senses the first sensing piece 41, the controller marks the position of the multicast vehicle 2 as the initial position. As described above, the multicast vehicle 2 is circulated on the multicast wall 1, so that the controller marks the position of the multicast vehicle 2 as the initial position every time the multicast vehicle 2 reaches the position where the first sensing piece 41 can be sensed, so that no error accumulation is caused, that is, the error of displacement calculation is zeroed every time the multicast vehicle 2 moves to the position where the first sensing piece 41, and the position of the multicast vehicle 2 is directly marked as the initial position. The initial position may include a zero point.

Specifically, during the running process of the distribution truck 2, the position of the distribution truck 2 is marked as the initial position by sensing the position of the first sensing piece 41 every time the distribution truck 2 moves to the position of the first sensing piece 41, so that errors in calculating the position of the distribution truck 2 caused by reciprocating circulation running are reduced.

If the multicast vehicle 2 does not receive the sensing signal from the first sensing piece 41 during operation, it indicates that the multicast system is in an abnormal state, and it is necessary to check a mechanical system or a control system to locate the source of the problem.

In some embodiments, the bottom layer transverse rail 110 further includes a trolley line 16 disposed between the first sub-rail 111 and the second sub-rail 112 and extending along the first direction X, and a trolley line beam 17 disposed spaced from the trolley line 16. Trolley 16 is used to charge the seed-metering truck 2 during movement of the seed-metering truck 2 along the underlying transverse track 110. The first sensing tab 41 is disposed on the trolley line beam 17.

The seed-metering truck 2 has brushes. During the movement of the seed-sorting vehicle 2 along the bottom layer transverse track 110, the electric brush keeps contact with the trolley line 16, so that the purpose of charging while moving is realized. As shown in fig. 5, the first sensing piece 41 is disposed on the trolley line beam 17, so that the first sensing piece 41 can be sensed by the seed vehicle 2 during movement along the underlying lateral track 110. And the structure of the distribution system is simplified without arranging a special mounting bracket for mounting the first sensing piece 41.

In some embodiments, the first sensing piece 41 is a sheet metal piece that is bolted to the trolley line beam 17. The sensor arranged on the seed sowing vehicle 2 comprises a magnetic induction switch. When the magnetic induction switch is close to the second induction piece, the magnetic induction switch can be triggered to generate a signal.

The distribution system comprises a plurality of distribution cars 2. When there is a faulty multicast vehicle among the plurality of multicast vehicles 2, if the position of each of the remaining multicast vehicles is detected and corrected by the first sensor strip 41, a problem of waiting in line is caused.

To improve the above problem, in some embodiments, in the working state, if there is a faulty seed in the plurality of seed 2, the faulty seed refers to a seed that cannot be scheduled, that is, a seed whose position location is problematic, where a sensor of a part of the seed may be located by sensing the first sensing piece 41, and a sensor of another part of the seed may be located by sensing the second sensing piece 42. This reduces the queuing time of the multicast vehicle. For example, if a faulty seed-sowing vehicle is present between the on-line position and the packet receiving position, if other seed-sowing vehicles all need to be on-line to the second sensing piece 42 at the on-line position, an on-line queuing situation may be caused, and at this time, the first sensing piece 41 may be used to perform an on-line operation on a part of seed-sowing vehicles. For another example, if a faulty seed-distribution vehicle is present, the faulty seed-distribution vehicle needs to be re-brought on line to enable the system to schedule, at which point the faulty seed-distribution vehicle may be re-brought on line by the second sensing piece 42.

As shown in fig. 4 and 7, in some embodiments, the bottom transverse track 110 includes a first sub-track 111 and a second sub-track 112 that are disposed in parallel spaced apart relation. The first sub-track 111 and the second sub-track 112 each extend in the first direction X. The first sensing piece 41 and the second sensing piece 42 are disposed between the first sub-rail 111 and the second sub-rail 112 at different positions in the third direction Z. The third direction Z is perpendicular to the first direction X and perpendicular to the second direction Y. The first sensing piece 41 and the second sensing piece 42 are respectively arranged at different positions, so that the sensors corresponding to the positions of the first sensing piece 41 and the second sensing piece 42 can be respectively arranged to respectively sense the first sensing piece 41 and the second sensing piece 42, and further, the position sensing is accurate.

Referring to fig. 9, in some embodiments, the position correction device 4 includes two sensors disposed on the multicast cart 2. The two sensors include a first sensor 43 and a second sensor 44. The position of the first sensor 43 corresponds to the position of the first sensing piece 41 to sense the first sensing piece 41. The position of the second sensor 44 corresponds to the position of the second sensing piece 42 to sense the second sensing piece 42. The first sensor 43 is used for sensing the first sensing piece 41, and the second sensor 44 is used for sensing the second sensing piece 42, so that the second sensor 44 can be turned off to avoid sensing the second sensing piece 42 when no fault is found in the operation process of the distribution vehicle. That is, in addition to the on-line and faulty operation of the multicast vehicle, only the first sensing piece 41 senses the position of the multicast vehicle during normal operation of the multicast vehicle, and the second sensing piece 42 senses only when the on-line and faulty multicast vehicle is present.

The embodiment of the invention also provides a position correction method of the unicast vehicle based on the unicast system, which comprises the following steps:

s510, a plurality of sub-sowing vehicles 2 are on line from one end of the longitudinal descending track 13, and for each sub-sowing vehicle 2, the position of the sub-sowing vehicle 2 is marked as a set position according to the signal of the second sensing piece 42 acquired by the sensor on each sub-sowing vehicle 2;

s520, after the on-line and in the working state, the cart 2 moves along the bottom-layer lateral rail 110 and marks the position of the cart 2 as the initial position according to the acquired signal of the first sensor strip 41 before reaching the pickup position C.

According to the position correction method provided by the embodiment of the invention, the second sensing piece 42 is arranged at the online position of the bottom transverse track 11 of the distribution wall 1 so as to position the distribution vehicle when the distribution vehicle is online, and further, the online distribution vehicle is scheduled. And the first sensing piece 41 is arranged at the upstream of the packet receiving position in the operation state to position the delivery vehicle 2, so that the delivery vehicle 2 can be accurately controlled in the operation process, and further, the goods can be accurately delivered.

In some embodiments, after entering the operational state, only the signal of the first sensor patch 41 is acquired during movement of the cart. That is, in the normal distribution operation, the signal of the second sensing piece 42 is not acquired, but only the signal of the first sensing piece 41 is acquired, so that interference between the signals can be avoided.

In some embodiments, in the working state, if there is a faulty multicast car among the multicast cars 2, signals of the first sensing piece 41 and the second sensing piece 42 are acquired for different multicast cars respectively to locate the different multicast cars.

When the operation state and the fault occur, the signals of the first sensing piece 41 and the second sensing piece 42 are acquired to position different multicast vehicles, so that queuing time caused by zero point correction is reduced.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.

Claims (11)

1. A distribution system, comprising:

the sowing wall (1) comprises a plurality of layers of transverse rails (11) extending along a first direction (X), a longitudinal ascending rail (12) extending along a second direction (Y) and a longitudinal descending rail (13) extending along the second direction (Y), wherein the first direction (X) and the second direction (Y) are arranged in a crossing manner, and the longitudinal ascending rail (12) and the longitudinal descending rail (13) are respectively arranged at two ends of the transverse rails (11);

a seed-sorting vehicle (2) configured to carry goods and to move along the transverse rail (11) and the longitudinal ascending rail (12) to a target seed-sorting position of a target layer of the seed-sorting wall (1), the multi-layer transverse rail comprising a bottom layer transverse rail (110) at the bottom, the bottom layer transverse rail (110) comprising an upper line position (B) arranged adjacent to the longitudinal descending rail (13), the seed-sorting vehicle (2) being configured to be brought up from the upper line position (B) and to move along the bottom layer transverse rail (110);

the bottom layer transverse track (110) is provided with a package receiving position (C) for receiving cargoes, and the distribution vehicle (2) moves to the package receiving position (C) to receive cargoes; and

the position correction device (4) comprises a first sensing piece (41) and a second sensing piece (42) which are arranged on the bottom layer transverse track (11) and a sensor arranged on the distributing vehicle (2), wherein the first sensing piece (41) is arranged at the upstream of the packet receiving position (C), the second sensing piece (42) is arranged at the online position, the distributing vehicle (2) is provided with an operation state and an online state, and the sensor is used for positioning the distributing vehicle (2) by sensing the first sensing piece (41) in the operation state; in the on-line state, the sensor positions the distribution vehicle (2) by sensing the second sensing piece (42).

2. The distribution system according to claim 1, further comprising a controller, wherein in the operational state, if the sensor senses the first sensor patch (41), the controller marks the position of the distribution vehicle (2) as an initial position.

3. The distribution system according to claim 1, further comprising a controller that marks the position of the distribution vehicle (2) as a set position if the sensor senses the second sensing piece (42) in the on-line state.

4. The distribution system according to claim 1, characterized in that it comprises a plurality of said distribution vehicles (2), in said operating condition, if there is a faulty distribution vehicle among said plurality of distribution vehicles (2), the sensors of one portion of the distribution vehicles are positioned by sensing said first sensing patch (41), and the sensors of the other portion of the distribution vehicles are positioned by sensing said second sensing patch (42).

5. The distribution system according to claim 1, wherein the bottom layer transverse track (110) comprises a first sub-track (111) and a second sub-track (112) arranged in parallel at intervals, the first sub-track (111) and the second sub-track (112) each extend along the first direction (X), and the first sensor tab (41) and the second sensor tab (42) are arranged between the first sub-track (111) and the second sub-track (112) at different positions in a third direction (Z), the third direction (Z) being perpendicular to the first direction (X) and perpendicular to the second direction (Y).

6. The distribution system according to claim 5, further comprising a trolley line (16) arranged between the first sub-track (111) and the second sub-track (112) and extending in the first direction (X), and a trolley line beam (17) arranged at a distance from the trolley line (16), wherein the trolley line (16) is configured to charge the distribution vehicle (2) during movement of the distribution vehicle (2) along the underlying transversal track (110), and wherein the first inductive tab (41) is arranged on the trolley line beam (17).

7. The distribution system according to claim 5, characterized in that the bottom layer transverse rail (110) further comprises a connecting beam (18) arranged close to the longitudinal lowering rail (13) and at the end, the transverse connecting beam (18) connecting the first sub-rail (111) and the second sub-rail (112), the second sensor tab (42) being arranged on the connecting beam (18).

8. The distribution system according to claim 1, characterized in that the position correction device (4) comprises two sensors arranged on the distribution vehicle (2), the two sensors comprising a first sensor (43) and a second sensor (44), the position of the first sensor (43) corresponding to the position of the first sensor patch (41) for sensing the first sensor patch (41), the position of the second sensor (44) corresponding to the position of the second sensor patch (42) for sensing the second sensor patch (42).

9. A method for correcting the position of a multicast vehicle based on the multicast system according to claim 1, comprising the steps of:

a plurality of sub-sowing vehicles (2) are arranged on one end of the longitudinal descending track (13), and the positions of the sub-sowing vehicles (2) are marked as set positions according to the signals of the second sensing pieces (42) acquired by the sensors on each sub-sowing vehicle (2) for each sub-sowing vehicle (2);

after entering an on-line operation state, the distribution vehicle (2) moves along the bottom layer transverse track (110) and marks the position of the distribution vehicle (2) as an initial position according to the acquired signal of the first sensing piece (41) before reaching the package receiving position (C).

10. The position correction method of a multicast vehicle according to claim 9, characterized in that only the signal of the first sensor blade (41) is acquired during the movement of the multicast vehicle after entering the working state.

11. The method according to claim 10, wherein in the operating state, if there is a faulty multicast car among the plurality of multicast cars (2), signals of the first sensor blade (41) and the second sensor blade (42) are acquired for each of the multicast cars to locate each of the multicast cars.